TOPIC: Firmware Safety Control Options:

The PLS2 firmware has the ability to suppress back-EMF voltages any time the calculated trajectory has been exceeded by actual motor motion. In other words, the processor is looking at where it should be compared to where it actually is. Any time the motor exceeds dynamic position per calculated trajectory, the drive amplifier shunts power to maintain dynamic position control. As a result, excessive currents are suppressed at a rate of response of ~250 micro seconds.

Additionally, if the motor faults out for either Position Error, Travel Limit, or Thermal Limits, it will automatically short out the windings and dynamically stop the shaft.